Central catadioptric camera calibration using line image and mirror contour

This study proposes a linear algorithm for central catadioptric camera calibration based on the properties of the common self-polar triangle between the line image and the mirror contour to recover intrinsic and mirror parameters. We found that one side of the common self-polar triangle of the line image and the mirror contour passes through the principal point. Two pairs of the images of circular points provided by two line images constrain the image of the absolute conic (IAC) without principal point information; then, the IAC and parameters are recoverable. Experiments using simulated and real data confirm the effectiveness and feasibility of the algorithm.